Autonomous Robotic Aide

ABSTRACT

An autonomous robotic aide and methods of its operation are provided herein. The robotic aide can carry and lift objects around the user&#39;s environment. The robot has a lifting mechanism which lifts the objects that are placed on the robot. It can assist users with picking up objects from the ground. The use of accessories may be combined with the robot&#39;s carrying and lifting functions to further assist the user. The robot can also map the user&#39;s environment for autonomous navigation. The robot can be given voice commands and can be controlled manually by integrating with a smart device.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication No. 62/354,783 filed on Jun. 26, 2016, the contents of whichare incorporated herein by reference.

FIELD OF THE INVENTION OR TECHNICAL FIELD

This invention relates generally to the field of robotics and morespecifically to a mobile robotic platform that can provide assistiveservices such as carrying, collecting and lifting household objects.These objects include, but are not limited to, common household itemssuch as laundry baskets and grocery bags.

BACKGROUND OF THE INVENTION

Robotics has been used in the manufacturing industry for decades, butthe use of robotics in the household has been limited to task robotsthat perform cleaning functions such as pool cleaners and robotic vacuumcleaners. The field of assistive robotics is a new field.

One large problem that is ideal for the field of assistive robots toaddress is the growing number of individuals with difficulties carryingand lifting items. According to the U.S. Census Bureau, about 56.7million people or about 19% of the population had a disability in 2010.Of which, 19.9 million people had difficulty lifting and graspingobjects. Additionally, the older portion of the population also has ahigher percentage of disabled individuals or individuals with reducedmobility. In the United States, there are 78 million Baby Boomers all ofwhich are retired or near retirement. Not only is the population aging,but there is a growing number of individuals suffering from injurieswhich reduce their mobility. The U.S. Bureau of Labor Statistics citesback injuries as the leading cause of workman's compensation in theUnited States. Back injuries are one of the injuries which most leads toreduced mobility or restriction of carrying and lifting task. This robotwill allow individuals with permanent or temporary mobility issues theability to complete more tasks independently, thereby giving thispopulation greater self-reliance and independence.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 Angled view of default position

FIG. 2 Side view of default position

FIG. 3 Angled view with the lift mechanism engaged

FIG. 3A Focused view of a latching mechanism

FIG. 4 Side view in a household setting

FIG. 5 Angled view of gripper accessory

FIG. 6 Bottom view of the robotic aide

FIG. 7 Process block diagram of the robotic aide's movement

FIG. 8 Finite state diagram that models the event driven software system

FIG. 9 Screen of the smart device application with control buttons forthe drive motors

FIG. 10 Screen of the smart device with control buttons for the liftmechanism and tilt sensor interface for control of the drive motors

DETAILED DESCRIPTION AND BEST MODE OF IMPLEMENTATION

An autonomous robotic aide is a mobile robot that performs tasks thatassist humans. In this case, tasks include carrying and liftinghousehold items. The robotic aide is designed to handle payloads up to50 lbs or 23 kg. The robot is designed to lift its collection plate upto a prescribed height. These are usually associated with buildingcodes, but are not limited to heights only predefined in the buildingcode and may include programmable custom heights. This would allow theuser to have increased customization and assistance specific to theirneeds. Since the robotic aide has the ability to function autonomously,a human is not required to manually control the robot at all times.Although, a manual control option is provided to the user. In the caseof manual control, the robot may be connected to a user's smart devicewhere the software that controls the robot's actions and movements isprovided.

The robot can carry and lift objects. This robot is a mobile robot.Motors will be used for the driving and mobile applications of therobots. One feature of the robot is that it can facilitate thecollection of objects from the ground utilizing a mechanical solution.Actuators will be used for the lifting applications and accessories willbe used for the collecting applications. This feature is a large benefitto the user in scenarios where an object has fallen, is dropped, or istoo heavy for the user to move. This frees the user from having todepend on another person to place the object on the robot. The robotalso has a mechanical lifting system, when activated this system liftsthe collection plate. The collection plate is where objects orcontainers are placed on the robot. This system will use actuators and amechanical system to perform the lifting. This lifting will be activatedthrough software. This feature is vital to the robot because manyindividuals, who cannot carry items, also have mobility restrictionsthat extend to the physical action of lifting the items. One of therobot's most important features is its ability to integrate itself intothe user's home environment. The robot utilizes mapping andvisualization software to navigate around the home; it then stores itsmap so that it can more effectively transport items. This will be donethrough the use of a sensor package utilizing a number of differentsensors. The use of multiple, distinct sensors reduces occurrences oferror in the sensor readings. As well, the robot can be controlledmanually.

The following detailed description refers to the preferred embodiment ofthe invention, but there is no intention of restricting the invention tothe preferred embodiment. The description is provided to encourage thoseskilled in the art to make and use this invention. Other embodiments caninclude a different size collection plate, different size liftingmechanism, treads or different tires.

The autonomous robot 100 is displayed in FIG. 1. In this embodiment, therobot 100 is illustrated in its default position. The default positionis the state where the robot has a collapsed lift mechanism 300, 310,empty collection plate 120, and no motors are engaged. The robot 100 hasa base 110 which houses the enclosed compartment that contains thedriving motors, lift motors, actuators, motor controllers, electronics,micro-processing units, sensors, and wheels 210, 220, 230, 240. Therobot 100 also contains a collection plate 120, accessory housing 500,and latching mechanism 350, 360. In another embodiment the four wheels210, 220, 230, 240 could be replaced by treads. The robot 100 has awidth that permits it to navigate through standard household hallways.The robot's height changes depending on whether the lift motor isengaged.

FIG. 2 showcases a side view of the robot 100 in its default position.Lowering the collection plate 120, results in a lower center of gravity.A lower center of gravity is more stable especially when the robot 100is carrying objects.

FIG. 3 showcases an angled view of the robot 100 with the lift mechanism300, 310 engaged. In one embodiment the lift motor is attached to thelifting mechanism 300, 310 directly, while in another embodiment amechanical drive is used and connected to the lift motor. This drive mayinclude a ball screw, a worm drive, a linear actuator, or any othersuitable mechanical drive which would create the needed power to liftthe collection plate 120 and collection payload. The collection platehas a latching mechanism 350,360 to secure the collection plate 120payload. This collection plate 120 payload may include a basket, bin,bag, or other suitable container which can hold small or loose items.The container must fit on the collection plate 120 and can be securedvia the latching mechanism 350, 360. The latching mechanism 350, 360 mayinclude hooks, a tethered cord, a bar, or any other device which wouldlimit the movement and prevent the fall of the collection payloadcontainer. An example of this is illustrated in FIG. 3A.

FIG. 4 depicts the robot 100 in a household setting. In this figure therobot 100 has approached the kitchen counter 450 and the collectionplate 120 is raised to the height 410 equivalent to the kitchen counter450. The robot 100 is capable of lifting its collection plate 120 to theheight of a standard kitchen counter to aid the users that have mobilityrestrictions. These restrictions often prohibit the users from bendingdown to retrieve items including grocery bags and common kitchenutensils. The height 410 of the kitchen counter 450 is defined bystandard building codes.

FIG. 5 depicts a gripper 510 which will be used as a collectingaccessory. This is one example of a collecting apparatus which can beused with the robot 100. However, this does not limit the use of othercollecting accessories such as different size grippers, scoopers,telescoping ramps, or any other suitable collecting accessory which willallow the user to customize the use of the robot 100 to their needs.Typical users of the robot 100 have mobility restrictions. Theserestrictions will often impede their ability to bend down and pick upfallen items, such as a towel or clothing from the floor. The robot 100will house accessories, such as the gripper 510 to facilitate theability to retrieve the fallen items. The collecting accessories will behoused in the collection accessory housing 500. In this embodiment, thegripper 510 can be folded at the hinge 530 for compact storage. Thegripper 510 has an ergonomic handle 520 with soft rubber and trigger toclose the gripper 510 end effector 540.

The base 110 is depicted in FIG. 6. The base 110 houses the batteries,drive motors, motor controllers, lift motor, micro-processing unit,communications transceivers, and sensor array. The sensor array includesa variety of sensors which help the robot navigate its surroundings.Examples of the sensors include a cliff sensor, a tilt sensor, imagingsensor, audio sensors, collision sensor, and range finders. The rangesensors can be ultrasonic, infrared (IR), RADAR, and LIDAR based. Inthis embodiment, the base 110 houses the drive motors. In anotherembodiment, hub motors can be used; in such a case the base 110 may nolonger house drive motors. In this embodiment, four wheels 210, 220,230, 240 are mounted onto the base 110. The wheels 210, 220, 230, 240shown consist of a non-slip, rubber material; however, the wheels 210,220, 230, 240 can consist of a variety of materials including, but notlimited to, different types of rubber, plastics, or any other suitablematerial. In another embodiment, two of the wheels can be omni-wheelswhich would allow the robot to move with more ease in lateraldirections. Since the robot 100 is being targeted for an indoorenvironment, wheels will suffice, but users can also opt to use therobot 100 in an outdoor setting. In an embodiment for outdoor use,treads can be utilized since they are better suited for traversing anoutdoor setting.

A software block diagram is shown in FIG. 7 to provide a high-levelflowchart of the process that governs the movement of the robot 100.This high level process assumes that the robot 100 is not in hibernationand is accepting commands. The process 700 begins when the robot 100receives a move command 710. Upon receiving a move command 710, therobot 100 will determine if the collection plate 120 is elevated 720. Ifthe collection plate 120 is raised 722, a command 730 to lower thecollection plate 120 is issued. If the collection plate 120 is alreadyin the collapsed position 721, then it proceeds to check for obstacles.Having the collection plate 120 in a collapsed state reduces the centerof gravity facilitating the robot's travel. The robot 100 will thencheck if the sensors detected an obstacle 740. If an obstacle has beendetected 742, an alert is issued 750. If the sensors do not detect anissue 741, the robot 100 will proceed to move accordingly 790. Thesoftware will then check if the robot 100 is under automatic control760. Automatic control refers to the robot 100 using a navigational mapof its surroundings. If the robot 100 is under automatic control 762,the alert is stored 770 and flagged to indicate that the navigation mapmay need to be updated. If the robot 100 continuously encounters anobstacle, this means that the internal navigation map is not correct. Ifthe robot 100 is not under automatic control 761, meaning it is inmanual mode, it will await further instruction 795 and the process willterminate 798. In automatic mode the robot 100 will use its sensors tonavigate its way avoiding the obstacle 780 and execute the receivedcommand 790 and terminate 799.

FIG. 8 depicts the finite state machine that models the software of therobot 100. When the robot 100 is POWERED ON 812, it enters the EVENTIDLE STATE 800. The robot 100 can be powered up via a physical switchlocated on the base 110. The robot's software is usually in the EVENTIDLE STATE 800 and changes to a different state depending on events.These events can be an actuator command 841, sensor input 831, errorcondition 851, hibernate command 821, or off command 811. If thesoftware receives an actuator command 841, it will enter the ACTUATESTATE 840, and will issue a command acknowledgement 842. Examples of theactuator commands can include lift, lower, forward, reverse, left,right, stop, and release. If the software receives a sensor input 831,the software enters the PROCESS SENSOR INPUT STATE 830 and will issue asensor acknowledgement 832. The sensor acknowledgement 832 may embed anactuator command 841. For instance, a range sensor may detect an objectin the path of the robot 100. The sensor acknowledgement 832 of thePROCESS SENSOR INPUT STATE 830 will embed an actuator command 841 tomove the robot 100 out of the path of the object. If the robot 100encounters an error condition 851, it will enter the ERROR STATE 850 andan error acknowledgement is issued 852. An example of an error conditioncould be the loss of connectivity to the smart device or the batterylevel is below a pre-defined threshold. The error acknowledgement 852will contain information on the type of error. Another trigger eventwould be a POWER OFF command 811 and the robot 100 will acknowledge ashutdown command 812 and then proceed to power itself down and enter theOFF STATE 810. In one embodiment, the robot 100 also has a HIBERNATESTATE 820. The HIBERNATE STATE is a low-power state where a limitedabout of sensor and actuators are receiving power. When the robot 100receives a hibernate command 821, the robot 100 will acknowledge with ahibernate acknowledgement 822 and proceed to go into the HIBERNATE STATE820. In another embodiment, the hibernate acknowledgement 822 can alsoembed an actuate command 841 for the robot 100 to go to a prescribedlocation, including but not limited to the charging station. Afterreaching the prescribed location will then enter the HIBERNATE STATE820. Although the robot 100 may be in the HIBERNATE STATE 820, the robot100 can enter the EVENT IDLE STATE 800 with certain pre-defined sensorinput.

The robot 100 may be controlled manually through the use of a smartdevice. Smart devices may include, but are not limited to, smart phonesor tablets. If the robot 100 is being controlled manually through theuse of the smart device, software will be provided for the smart device.FIG. 9 depicts the software screen of the smart device's application900. In this embodiment, the application controls the movement of therobot 100 via software button controls. FIG. 10 showcases the smartdevice's application screen 1000. In this embodiment, the smart device'sown sensors are used to guide the robot's movements. For instance, thegyroscope on a smart phone can be used to sense when the phone is titledto the left. When the software application receives this sensor input,the robot 100 will then move to the left.

FIG. 9 denotes that one software embodiment will rely on softwarecontrol buttons to manipulate and communicate with the robot 100. TheConnect control button 910 is pressed when the user needs to set upwireless communications to the robot 100. Examples of the wirelesscommunication protocols that are supported are WiFi, Bluetooth, ZigBee,radio frequency and light based protocols. The Disconnect button 920 isutilized when the user wishes to terminate the wireless communicationswith the robot 100. Movement of the robot 100 is accomplished via avirtual joystick button controller 930. When the user wishes for therobot 100 to move forward, the user will press the top arrow 931 on thevirtual joystick button controller 930. If the user wishes the robot 100to move in reverse, the user must press the bottom arrow 932 on thevirtual joystick button controller 930. For the robot 100 to move in theleftward direction, the user must press the left arrow 933. The rightarrow 934 on the virtual joystick button controller 930 will command therobot 100 to move in the rightward direction. This software embodimentalso provides two buttons to control when the collection plate 120should be lowered or lifted. When the Lift control button 980 ispressed, the collection plate 120 will raise to the prescribed height.Pressing the Lower control button 970, results in the collection plate120 being lowered to its collapsed height. In this embodiment, thesoftware application also provides a Message Display 940. This MessageDisplay 940 will showcase alert messages as well status messages. Anexample of an alert would be the encounter of an obstacle. A statusmessage can be a message indicating that the communications between therobot 100 and the smart device have been disconnected. The overallcontrol of the robot 100 is governed by the Start control button 950 andStop control button 960. When pressed, the Start control button 950 willbring the robot 100 out of its HIBERNATE STATE 820 and will be in theEVENT IDLE STATE 800 waiting for movement or manipulation commands.Pressing the Stop control button 960 will force the robot 100 to stopthe drive motors and lower its collection plate 120. The robot 100 willbe put in the EVENT IDLE STATE 800.

Another software embodiment of the manual control is depicted in FIG.10. In this embodiment, the user relies on the smart device's ownsensors to guide the movement of the robot 100. However, control of thelifting and lowering of the collection plate 120 as well as the controlof the communications with the robot 100 will still use software controlbuttons. Communications between the robot 100 and the smart device iswireless. WiFi, Bluetooth, ZigBee, radio frequency and light basedprotocols are examples of the wireless communications that can besupported. To communicate with the robot 100 the user must press theConnect control button 1010. This engages wireless connection betweenthe robot 100 and the smart device. To break-off the connection, theuser will press the Disconnect control button 1020. The manipulation ofthe lowering and the raising of the collection plate 120 is controlledby the Lower control button 1030 and the Lift control button 1040.Pressing the Lower control button 1030 on the smart device's applicationscreen 1000 will result in the lift motor being engaged and lowering thecollection plate 120. When the user presses the Lift control button1040, the lift motor is engaged and results in the collection plate 120being raised to a prescribed height. The software also provides aMessage Display 1070. The Message Display 1070 can be used for thedisplay of status messages or alerts. An example of a status message isthat the robot 100 is disconnected, while an alert can indicate that anobstacle has been detected. The Start control button 1050 and Stopcontrol button 1060 are responsible for the overall control of the robot100. When the Start control button 1050 is pressed, the robot 100 isawaken out of the HIBERNATE STATE 820, enters the EVENT IDLE STATE 800,and waits for instruction regarding manipulation or movement. When theStop control button 1060 is pressed, the robot 100 will stop its drivemotors, lower its collection plate 120, and enter the HIBERNATE STATE820. In this embodiment, the movement of the robot 100 is governed bythe smart device's own sensors. For instance, when the user tilts thedevice, the smart phone's gyroscope will detect the tilt. The softwarewill translate the gyroscope sensor data and command the robot 100 tomove in the direction of the tilt. If the user tilts the smart phone tothe left, the robot 100 will move to the left. Likewise, a tilt to rightby the smart phone will result in the robot 100 moving to the right.Titling the smart device forward will correspond in the robot 100 movingforward. The robot 100 will move in reverse in response to the smartdevice being tilted backward.

The forgoing description is exemplary embodiments of the invention so aperson skilled in the art would be capable of recognizing from thefigures, claims, and descriptions that changes could be made to thepreferred embodiments without departing from the scope of the inventionas defined by the following claims.

What is claimed:
 1. A mobile robot comprising: a driving mechanismdisposed within its base to move the robot forward, reverse, left,right, or a combination of these directions; a collection plate to holdobjects; a housing for assistive accessories; a lift mechanism thatraises the collection plate; electronic sensors to navigate itssurroundings; electronic communications transceivers; micro-processingsystem; a user interface.
 2. The robot of claim 1, wherein contains acollection plate for carrying items. This collection plate is accessiblefrom the top of the robot. The robot will be able to carry objects up to50 lbs or 23 Kg.
 3. The robot of claim 1, wherein contains a liftmechanism that can elevate the collection plate to heights up to 4 feetor about 1.2 meters.
 4. The robot of claim 1, wherein contains housingfor assistive accessories which are used as collecting mechanisms toplace objects on the collection plate.
 5. The robot of claim 1, whereincontains a latching mechanism so that when a container is placed on thecollection plate it can be secured while the robot is stationary or inmotion.
 6. The robot of claim 1, wherein the base has electronics fornavigation of its surroundings, obstacle avoidance, and userinteraction.
 7. The robot of claim 6, wherein its sensors includecollision sensors, tilt sensors, imaging sensors, and range finders fornavigation and obstacle avoidance.
 8. The robot of claim 6, wherein itscommunications include transceivers to triangulate electronic signals.9. The robot of claim 6, wherein its electronics include audio sensorsand actuators.
 10. The robot of claim 6, wherein its electronics rely onsoftware to perform the ability to transcribe voice commands toelectrical signals for robotic control and navigation.
 11. The robot ofclaim 6, wherein its electronics rely on software to create navigationalmaps and use such maps to navigate its surroundings.
 12. The robot ofclaim 1, wherein it has a user interface to provide electronic andverbal control of robot.
 13. The robot of claim 12, wherein it has auser interface that can be a smart device containing software that canbe used for driving and commanding the robot to lift or lower itscollection plate.
 14. The robot of claim 12, wherein it has a userinterface for the user to audibly command the robot's drive and liftmechanisms.
 15. The robot of claim 12, wherein it has a user interfacefor storing navigational maps of the surrounding areas and training therobot to navigate said maps.
 16. The robot of claim 12, wherein it has auser interface for training the robot's audio electronics to discernverbal commands from different users.
 17. The robot of claim 1, whereinit has a micro-processing system to translate robot commands whetherthey are verbal from a user or via a smart device.
 18. The robot ofclaim 17, wherein it has a micro-processing system that can processsensor inputs and actuate motors accordingly.
 19. The robot of claim 17,wherein it has a micro-processing system for building and storingnavigational maps of the surrounding areas.